The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System

Detalhes bibliográficos
Autor(a) principal: Tavakoli, Mahmoud
Data de Publicação: 2015
Outros Autores: Batista, Rafael Jose Correia, Sgrigna, Lucio
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10316/108413
https://doi.org/10.3390/act5010001
Resumo: In this paper, we present the design and development of the UC-Softhand. The UC Softhand is a low cost, Bionic and adaptive hand that takes advantage of compliant joints. By optimization of the actuation strategy as well as the actuation mechanism, we could develop an anthropomorphic hand that embeds three actuators, transmission mechanisms, controllers and drivers in the palm of the hand, and weighs only 280 g, making it one of the lightest bionic hands that has been created so far. The key aspect of the UC Softhand is utilization of a novel compact twisted string actuation mechanism, that allows a considerable weight and cost reduction compared to its predecessor.
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spelling The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation Systemtwisted stringprosthetic handsoft robotsoft handsoft bionicsIn this paper, we present the design and development of the UC-Softhand. The UC Softhand is a low cost, Bionic and adaptive hand that takes advantage of compliant joints. By optimization of the actuation strategy as well as the actuation mechanism, we could develop an anthropomorphic hand that embeds three actuators, transmission mechanisms, controllers and drivers in the palm of the hand, and weighs only 280 g, making it one of the lightest bionic hands that has been created so far. The key aspect of the UC Softhand is utilization of a novel compact twisted string actuation mechanism, that allows a considerable weight and cost reduction compared to its predecessor.MDPI2015info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articlehttp://hdl.handle.net/10316/108413http://hdl.handle.net/10316/108413https://doi.org/10.3390/act5010001eng2076-0825Tavakoli, MahmoudBatista, Rafael Jose CorreiaSgrigna, Lucioinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-08-29T11:29:08Zoai:estudogeral.uc.pt:10316/108413Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T21:24:42.819099Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System
title The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System
spellingShingle The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System
Tavakoli, Mahmoud
twisted string
prosthetic hand
soft robot
soft hand
soft bionics
title_short The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System
title_full The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System
title_fullStr The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System
title_full_unstemmed The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System
title_sort The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System
author Tavakoli, Mahmoud
author_facet Tavakoli, Mahmoud
Batista, Rafael Jose Correia
Sgrigna, Lucio
author_role author
author2 Batista, Rafael Jose Correia
Sgrigna, Lucio
author2_role author
author
dc.contributor.author.fl_str_mv Tavakoli, Mahmoud
Batista, Rafael Jose Correia
Sgrigna, Lucio
dc.subject.por.fl_str_mv twisted string
prosthetic hand
soft robot
soft hand
soft bionics
topic twisted string
prosthetic hand
soft robot
soft hand
soft bionics
description In this paper, we present the design and development of the UC-Softhand. The UC Softhand is a low cost, Bionic and adaptive hand that takes advantage of compliant joints. By optimization of the actuation strategy as well as the actuation mechanism, we could develop an anthropomorphic hand that embeds three actuators, transmission mechanisms, controllers and drivers in the palm of the hand, and weighs only 280 g, making it one of the lightest bionic hands that has been created so far. The key aspect of the UC Softhand is utilization of a novel compact twisted string actuation mechanism, that allows a considerable weight and cost reduction compared to its predecessor.
publishDate 2015
dc.date.none.fl_str_mv 2015
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10316/108413
http://hdl.handle.net/10316/108413
https://doi.org/10.3390/act5010001
url http://hdl.handle.net/10316/108413
https://doi.org/10.3390/act5010001
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 2076-0825
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv MDPI
publisher.none.fl_str_mv MDPI
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
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